ros 源码安装

版本lunar, 系统版本debian 9.8

参考： http://wiki.ros.org/lunar/Installation/Source

1. Installing bootstrap dependencies

$ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential

2. Initializing rosdep

$ sudo rosdep init
$ rosdep update

 $ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

 2.1 Desktop-Full Install: ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

    $ rosinstall_generator desktop_full --rosdistro lunar --deps --tar > lunar-desktop-full.rosinstall
    $ wstool init -j8 src lunar-desktop-full.rosinstall

 
2.2 Desktop Install (recommended): ROS, rqt, rviz, and robot-generic libraries

    $ rosinstall_generator desktop --rosdistro lunar --deps --tar > lunar-desktop.rosinstall
    $ wstool init -j8 src lunar-desktop.rosinsta

 2.3 ROS-Comm: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

    $ rosinstall_generator ros_comm --rosdistro lunar --deps --tar > lunar-ros_comm.rosinstall
    $ wstool init -j8 src lunar-ros_comm.rosinstall

PS： If wstool init fails or is interrupted, you can resume the download by running:
 

3. Resolving Dependencies

$ rosdep install --from-paths src --ignore-src --rosdistro lunar -y

 
4. 编译 Building the catkin Workspace

$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

 
默认安装在：
~/ros_catkin_ws/install_isolated
如果想改变安装路径：
 --install-space /opt/ros/lunar

5.

$ source ~/ros_catkin_ws/install_isolated/setup.bash